KR102649671B1 - A solar panel cleaning device with an arm structure formed thereon - Google Patents

Abstract

The present invention relates to a solar panel cleaning device having an arm structure. According to the present invention, a solar panel cleaning device moves a plurality of solar panels and removes foreign substances from the surface of the solar panel, wherein the solar panel It is located in the center of the panel cleaning device and forms a body, and is formed with a moving wheel on the lower surface, a vacuum pressure supply part formed on the upper surface of the body to supply vacuum pressure, and formed in front of the body and the solar panel. a brush part that removes foreign substances from the solar panel by contacting the body, a pair of joint driving parts formed on both sides of the body part and including a link and a joint assembly connected to the link, and an outer surface of the link part in the form of a caterpillar A pair of main moving parts that move the solar panel by receiving vacuum pressure from the vacuum pressure supply unit and forming a plurality of compression units that are detached from the solar panel, and are formed at the rear of the link unit, A pair of auxiliary moving parts having auxiliary wheels on the lower surface and formed inside the body part to penetrate the lower surface, are raised and lowered inside the body part, and receive vacuum pressure from the vacuum pressure supply part to form the solar panel. It is possible to provide a solar panel cleaning device having an arm structure including a rotating portion that rotates the body portion by forming a plurality of fixing units that are detachable from the.

Description

A solar panel cleaning device with an arm structure formed thereon}

The present invention relates to a solar panel cleaning device, and more specifically, to a solar panel cleaning device that automatically moves along the surface of a plurality of solar panels to remove foreign substances in order to maintain the power generation efficiency of the solar panels.

Solar power generation technology to replace fossil fuels is developing rapidly.

Solar power generation is a technology that obtains electricity by concentrating light into solar power panels and converting solar energy into electrical energy. Generally, solar power panels are installed outdoors in a well-lit, sunny location for solar power generation. .

Unwanted foreign matter contained in rainwater and the air naturally accumulates on the surface of panels installed on the outside of a building, and the foreign matter blocks light that should flow into the panel, reducing light collection efficiency.

Therefore, panel cleaning must be performed periodically to maintain the light-gathering efficiency of solar power generation panels, but cleaning solar power panels by workers has the problem of increasing maintenance costs due to excessive labor costs.

Furthermore, in recent years, solar panel cleaning is frequently required due to yellow dust, fine dust, and ultrafine dust, and the above-mentioned problems are becoming more prominent.

To solve this problem, a solar panel cleaning device has been developed. As such a robotic device, Korean Patent Publication No. 10-2021-0025881, 'Solar panel cleaning device with cleaning module', has been disclosed.

Solar panels are usually arranged at an angle with a certain inclination from the ground to improve light collection efficiency.

In order to move on the solar panel, the solar panel cleaning device must be able to support its own weight so as not to leave the solar panel.

However, the conventional solar panel cleaning device applied excessive friction to the solar panel to prevent it from leaving the solar panel, which often resulted in defects in the solar panel.

In addition, depending on the environment of the place where the solar panel is placed, for example, rainy or snowy weather, the friction between the solar panel and the conventional solar panel cleaning device varies significantly, so it can move and clean the solar panel stably depending on the environment. There was an inconvenience that made it difficult to do so.

In addition, as multiple solar panels are installed, the gaps and differences between solar panels cannot be overcome on their own, causing inconveniences such as having to manually move solar panels to clean other solar panels. Cleaning the optical panel was impossible.

Therefore, when moving the surface of a solar panel to remove foreign substances on the solar panel, it can be moved stably without causing defects in the solar panel, and the gaps and differences between multiple solar panels can be overcome. There is a need for the development of a solar panel cleaning device.

In order to solve the above problems, the present invention is an arm structure that uses vacuum pressure to detach from a solar panel and move the solar panel, and forms a joint drive unit to overcome the gap and step between a plurality of solar panels. The purpose is to provide a solar panel cleaning device.

A solar panel cleaning device with an arm structure according to an embodiment of the present invention to solve the above problem is located at the center of the solar panel cleaning device to form a body, and has a body part formed with a moving wheel on the lower surface, A vacuum pressure supply part formed on the upper surface of the body to supply vacuum pressure, a brush part formed in front of the body and in contact with the solar panel to remove foreign substances from the solar panel, formed on both sides of the body, A pair of joint driving units including a link and a joint assembly connected to the link, formed on the outer surface of the link unit in the form of a caterpillar, and a plurality of compressions that are detached from the solar panel by receiving vacuum pressure from the vacuum pressure supply unit. A pair of main moving parts forming a unit to move the solar panel, a pair of auxiliary moving parts formed behind the link part and having auxiliary wheels on the lower surface, and formed inside the body part to penetrate the lower surface. It is formed so that it rises and falls inside the body, and may include a rotating part that rotates the body by forming a plurality of fixing units that receive vacuum pressure from the vacuum pressure supply and are detached from the solar panel.

In addition, the joint drive unit is formed on both sides of the body in the form of a rod, one end of which is connected to a link motor provided inside the body, and a link formed on the outer surface of the other end of the link, and a joint motor provided inside. It may include a joint assembly connected to the other end of the link.

Here, the joint assembly includes a joint assembly body formed as a polyhedron and having a joint motor connected to the link inside, a joint assembly axis formed on the lower surface of the joint assembly body and formed in the form of a rod extending rearward, and It may include one or more main moving unit connectors formed on the outer surface of the joint assembly body and connected to the main moving unit.

In addition, the rotating part includes a rotating part shaft formed in a cylindrical shape and a rotating part connector formed on the upper and lower surfaces of the rotating part axis, which is formed in the shape of a disk with a diameter wider than the rotating part axis but has a thickness. A rotating part shaft structure connected to the upper surface of the inside of the part, a first rotating part plate formed in the shape of a plate so that the rotating part shaft penetrates and can be rotated, formed in a plate shape, located on the lower side of the first rotating part plate and the rotating part shaft A second rotating plate is formed to be rotatable through this, the upper end of which is formed so that the lower and lower surfaces of the first rotating plate are connected to the upper surface of the second rotating plate, so that the first rotating plate and the second rotating plate are spaced at a predetermined distance. A plurality of minor axis to be fixed in a spaced apart state, a rotating unit pressing unit spring located on the lower side of the second rotating unit plate and formed to surround the rotating unit axis, and formed on the lower surface of the second rotating plate to supply vacuum pressure from the vacuum pressure supply unit. A plurality of fixing units that receive and detach from the solar panel, a rotating part connection hose that connects the vacuum pressure supply part and the fixing unit to transmit vacuum pressure, and is formed inside the body part, and is located above the first rotating part plate It may include a pair of cam drivers that raise and lower the first rotating plate.

In addition, the solar panel cleaning device may further include a pair of support parts formed on an outer surface of the brush unit, contacting the solar panel, and supporting the body part.

Here, a support motor built inside the brush unit with a rotation axis penetrating the outer surface of the brush unit, a rotation bracket formed in an 'ㄴ' shape with a lower end bent to the outer surface and connected to the support motor to rotate, A lifting and lowering driver that is seated on a rotating bracket and is provided with a lifting and lowering shaft and is coupled to penetrate the lower surface of the rotating bracket and raises and lowering in the direction of the solar panel, located below the rotating bracket and connected to the lowering and lowering shaft. It may include a support unit that receives vacuum pressure from a vacuum pressure supply unit and is detached from the solar panel, and a support connection hose that connects the vacuum pressure supply unit and the support unit to transmit the vacuum pressure.

The solar panel cleaning device with the arm structure according to the embodiment of the present invention as described above moves the surface of the solar panel to remove foreign substances on the solar panel, and moves stably without causing defects in the solar panel. You can.

Additionally, it is possible to move smoothly by overcoming the gaps and differences between multiple solar panels.

In addition, when overcoming gaps and differences between multiple solar panels, it is possible to move stably by maintaining the center of gravity.

Figure 1 is a perspective view showing a solar panel cleaning device with an arm structure according to an embodiment of the present invention.
Figure 2 is a bottom perspective view of Figure 1.
Figure 3 is a perspective view showing the body of Figure 1.
Figure 4 is a perspective view showing the brush part of Figure 1.
Figure 5 is a perspective view showing the body part, joint driving part, and auxiliary moving part of Figure 1.
Figure 6 is a partial cross-sectional view of Figure 5.
Figure 7 is a perspective view showing the joint driving unit of Figure 5.
Figures 8 (a) to (g) are exemplary diagrams showing the operation of the joint driving unit of Figure 1.
Figure 9 is a perspective view showing the main moving part of Figure 1.
Figure 10 is a partial longitudinal cross-sectional view of Figure 9.
Figure 11 is a perspective view showing the pressing unit of Figure 9.
Figures 12 (a) and (b) are exemplary diagrams showing the operation of Figure 11.
Figure 13 is a perspective view showing the body and rotating part of Figure 1.
Figure 14 (a) is a perspective view showing the rotating part of Figure 13, and (b) is a bottom perspective view of (a).
Figures 15 (a) and (b) are exemplary diagrams showing the operation of the fixing unit of Figure 14.
Figures 16 (a) and (b) are exemplary diagrams showing the raising and lowering operation of Figure 14.
Figures 17 (a) and (b) are exemplary diagrams showing the rotation operation of Figure 14.
Figure 18 is a perspective view showing a support portion formed in a solar panel cleaning device with an arm structure according to an embodiment of the present invention.
Figure 19 is a perspective view showing the support part of Figure 18.
Figures 20 (a) to (c) are exemplary diagrams showing the operation of Figure 18.

Since the present invention can make various changes and take various forms, specific embodiments will be described in detail in the text. However, this is not intended to limit the present invention to a specific disclosed form, and should be understood to include all changes, equivalents, and substitutes included in the spirit and technical scope of the present invention.

The terms used in this application are only used to describe specific embodiments and are not intended to limit the invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this application, terms such as “comprise” or “have” are intended to designate the existence of a combination of features, numbers, steps, components, etc. described in the specification, but are not limited to one or more other features or numbers, It should be understood that the existence or addition possibility of combinations of steps, components, etc. is not excluded in advance.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as generally understood by a person of ordinary skill in the technical field to which the present invention pertains. Terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related technology, and unless clearly defined in the present application, should not be interpreted in an ideal or excessively formal sense. No.

Here, repeated descriptions, known functions that may unnecessarily obscure the gist of the present invention, and detailed descriptions of configurations are omitted. Embodiments of the present invention are provided to more completely explain the present invention to those skilled in the art.

Hereinafter, an embodiment of the present invention will be described in detail with reference to FIGS. 1 to 20.

Figure 1 is a perspective view showing a solar panel cleaning device with an arm structure according to an embodiment of the present invention, Figure 2 is a bottom perspective view of Figure 1, Figure 3 is a perspective view showing the body of Figure 1, and Figure 4 is a perspective view showing the brush part of FIG. 1.

Referring to Figures 1 and 2, a solar panel cleaning device (1, hereinafter abbreviated as 'solar panel cleaning device') having an arm structure according to an embodiment of the present invention moves a plurality of solar panels. It is a device for removing foreign substances from the surface of the solar panel, including a body part 100, a vacuum pressure supply part 200, a brush part 300, a joint driving part 400, a main moving part 500, and an auxiliary moving part 600. ) and a rotating part 700.

First, the body portion 100 is located at the center of the solar panel cleaning device 1 to form a body, and may be formed with a moving wheel 140 on the lower surface.

Specifically, referring to FIG. 3 , the body portion 100 may include a main body 110, an extension body 120, a wire organizer 130, and a moving wheel 140.

The main body 110 is in the form of a polyhedron, has a hollow interior to provide an accommodation space, and may have a hole formed on the lower surface.

At this time, it is preferable that the hole on the lower surface is formed to be larger than the rotating part 700 so that the rotating part 700 can be raised and lowered.

Accordingly, the components of the solar panel cleaning device 1, such as a motor and connection wire, can be accommodated inside the main body 110.

The extension body 120 may be formed to extend in front of the main body 110.

Here, the brush unit 300 may be coupled to the front of the extended body 120.

Accordingly, the extension body 120 may separate the brush unit 300 and the main moving part 500 so as not to interfere with the movement of the main moving part 500.

The wire organizer 130 is formed at the rear of the upper surface of the main body 110, and may have a polyhedral shape with a plurality of holes.

Accordingly, the wire organizer 130 has the advantage of being able to accommodate and organize wires and connection lines connected to the solar panel cleaning device 1 through the hole.

The moving wheel 140 may be formed on the lower surface of the main body 110 and the lower surface of the extended body 120.

Specifically, the moving wheels 140 are formed in pairs on both sides of the rear lower surface of the main body 110 and on both sides of the middle lower surface of the extension body 120, and can move in contact with the solar panel.

Accordingly, the moving wheel 140 can support the weight of the solar panel cleaning device 1 and prevent it from leaving the solar panel.

In addition, the moving wheel 140 can maintain the overall balance of the solar panel cleaning device 1 according to the movement of the main moving part 500.

Next, the vacuum pressure supply unit 200 is formed on the upper surface of the body 100 and can supply vacuum pressure.

Specifically, the vacuum pressure supply unit 200 can supply vacuum pressure to each component of the solar panel cleaning device 1 connected to the vacuum pressure supply unit 200 to enable them to be attached to the solar panel.

Accordingly, the solar panel cleaning device 1 may be fixed to the surface of the solar panel or may be moved on the surface of the solar panel.

Next, the brush unit 300 is formed in front of the body unit 100 and can contact the solar panel to remove foreign substances from the solar panel.

Specifically, referring to FIG. 4 , the brush unit 300 may include a brush unit housing 310 and a brush 320 .

The brush housing 310 may be formed as a polyhedron, with the front and rear sides open and both sides extending downward.

Additionally, the brush housing 310 may be coupled to the front of the extended body 120 by inserting it into an open space.

At this time, the brush housing 310 is preferably coupled to the extension body 120 so that it is located at the center to maintain balance, but the present invention is not limited to this.

The brush 320 is formed in a cylindrical shape and is located on the lower side of the brush housing 310. The brush 320 is axially connected to both sides of the brush housing 310 and can rotate while in contact with the solar panel.

Here, the brush 320 may be made of a material that does not damage the solar panel, such as PVC, PP, or sponge.

Accordingly, the brush unit 300 can move in contact with the surface of the solar panel according to the movement of the main moving unit 500 and remove foreign substances without damaging the surface of the solar panel.

Additionally, the brush unit 300 can maintain balance by supporting the load applied to the front of the solar panel cleaning device 1.

Additionally, the brush unit 300 may further include an ultrasonic sensor (not shown) that recognizes the edge of the solar panel.

A pair of ultrasonic sensors is formed at both ends of the brush housing 310 and can recognize the edges of the solar panel.

Specifically, the ultrasonic sensor can recognize the solar panel by sending out ultrasonic waves in the direction of the solar panel and then receiving the ultrasonic waves that are reflected back from the solar panel.

Accordingly, the solar panel cleaning device 1 can recognize the edge of the solar panel, change the driving direction, and drive autonomously by recognizing the next edge.

Next, the joint driving unit 400 is formed on both sides of the body unit 100 and may include a link 410 and a joint assembly 420 connected to the link 410.

This joint driving unit 400 will be described in more detail below using FIGS. 5 to 8.

Next, the main moving part 500 is formed on both sides of the joint driving part 400 in the form of a caterpillar, and is supplied with vacuum pressure from the vacuum pressure supply part 200 and includes a plurality of compression units that are detached from the solar panel ( 540) can be formed to move the solar panel.

This main moving unit 500 will be described in more detail below using FIGS. 9 and 10.

Next, the auxiliary moving unit 600 is formed as a pair at the rear of the joint driving unit 400, and may be provided with auxiliary wheels 620 on the lower surface.

Specifically, as shown in FIG. 5, the auxiliary moving unit 600 may include an auxiliary moving unit housing 610 and an auxiliary wheel 620.

The auxiliary moving unit housing 610 is formed as a polyhedron, and a joint assembly axis 412, which will be described later, may be connected through it.

Additionally, one or more extension shafts 611 may be formed inside the auxiliary moving unit housing 610.

The auxiliary wheel 620 may be formed located on the lower side of the auxiliary moving unit housing 610.

Specifically, the auxiliary wheel 620 may be coupled by an auxiliary wheel bracket 621 through which the extension shaft 611 is connected.

At this time, it is preferable that a pair of auxiliary wheels 620 be formed on one auxiliary moving unit 600 to increase support stability, but the present invention is not limited to this.

Accordingly, the auxiliary moving unit 600 can maintain balance by supporting the load applied to the rear of the solar panel cleaning device 1.

Next, the rotating part 700 is located inside the body part 100 and is formed to penetrate the lower surface, rises and falls inside the body part 100, and receives vacuum pressure from the vacuum pressure supply part 200 to be used in the solar panel. The body portion 100 can be rotated by forming a plurality of detachable fixing units 760.

The rotating unit 700 will be described in more detail below using FIGS. 11 to 14.

Figure 5 is a perspective view showing the body part, joint driving part, and auxiliary moving part of Figure 1, Figure 6 is a partial cross-sectional view of Figure 5, Figure 7 is a perspective view showing the joint driving part of Figure 5, (a) in Figure 8 to (g) are exemplary diagrams showing the operation of the joint driving unit of FIG. 1.

As described above, referring to FIG. 5 , the joint driving unit 400 may include a link 410 and a joint assembly 420.

Specifically, the joint drive unit 400 may rotate the body portion 100 by forming two axes, a link motor 411 and a joint motor 414, which will be described later, based on the link 410.

At this time, the link motor 411 and the joint motor 414 may be driven with the same force and speed.

In addition, the link motor 411 and the joint motor 414 are preferably used as BLDC motors so that the joint drive unit 400 can be rotated by supporting the weight of the solar panel cleaning device 1, but are not limited to this. No.

Referring to FIGS. 6 and 7 , the link 410 is formed in a bar shape on both sides of the body 100, and one end may be connected to the link motor 411 provided inside the body 100.

At this time, the length of the link 410 may be formed to a length that does not reach the brush unit 300 when the main moving unit 500 is coupled in order to avoid interference with the movement of the main moving unit 500. It is not limited to this.

Additionally, the link 410 may rotate 180° in an arc upward with respect to the body portion 100 as the link motor 411 is driven.

The link motor 411 may be provided as a pair on both rear sides of the body portion 100.

Accordingly, the link motor 411 is driven separately on both sides so that the pair of joint driving units 400 can be driven separately.

Due to this, the solar panel cleaning device 1 can be stably centered by moving the main moving parts 500 one by one when overcoming gaps and differences between solar panels.

The joint assembly 420 is formed on the outer surface of the other end of the link 410, and the joint motor 424 provided therein may be connected to the other end of the link 410.

Specifically, the joint assembly 420 may include a joint assembly body 421, a joint assembly axis 422, a main moving part connector 423, and a joint motor 424.

The joint assembly body 421 is formed as a polyhedron and may be provided with a joint motor 424 connected to the link 410 therein.

Specifically, the joint assembly body 421 may be formed at the other end of the link 410 to which the link motor 411 is connected and connected by the joint motor 424.

In addition, the joint assembly body 421 is located ahead of the position where the link motor 411 is connected when the solar panel cleaning device 1 does not operate, and the link motor 411 and the joint motor 424 are They can be connected to be located on the same horizontal line.

The joint assembly axis 422 is formed on the lower surface of the joint assembly body 421 and may be formed in a bar shape extending rearward.

Specifically, the joint assembly axis 422 may be connected through the joint assembly body 421 and may extend rearwardly to be connected to the lower surface of the auxiliary moving unit 600.

At this time, the length of the joint assembly axis 422 is preferably connected to the auxiliary moving part 600 and extends to the rear of the body 100 to maintain the balance of the solar panel cleaning device 1, but is limited to this. I never do that.

In addition, it is preferable that one or more joint assembly axes 422 are formed to increase the stability of connection with the auxiliary moving part 600, but the present invention is not limited thereto.

One or more main moving unit connectors 423 may be formed on the outer surface of the joint assembly body 421 and connected to the main moving unit 500.

Specifically, the main moving unit connector 423 has a hole penetrating the inside and protrudes from the outer surface of the joint assembly body 421, so that the main moving unit 500 can be detached.

The joint motor 424 may be provided inside the joint assembly body 421, and the drive shaft may be connected to the link 410.

Specifically, the joint motor 424 may be connected to the other end of the link 410 to which the link motor 411 is connected, as described above.

Additionally, the joint motor 424 may be driven with the same force and speed when the link motor 411 is driven.

To explain the operation of the joint driving unit 400 with reference to (a) to (g) of Figure 8, (a) shows that the solar panel cleaning device 1 is connected to the first solar panel SP1 and the second solar panel. This is the state before the gap between the light panels (SP2) is checked and the joint driver 400 operates.

Next, in (b) of FIG. 8, the link motor 411 and the joint motor 414 provided on both sides are driven at a 90° angle so that the link 410 is 90° with the first solar panel SP1. It stands at an angle, and the rear of the body 100 is lifted.

Here, the main moving unit 500 on both sides may be attached to the first solar panel SP1 by receiving vacuum pressure from the compression unit 540 from the vacuum pressure supply unit 200.

Accordingly, the solar panel cleaning device 1 can be stably centered even when the joint driving unit 400 operates.

Additionally, the brush unit 300 may be in contact with the second solar panel SP2 due to the rear of the body unit 100 being lifted by the operation of the joint driving unit 400.

Next, in (c) of Figure 8, in the state of Figure 8 (b), the link motor 411 and the joint motor 414 are driven at an angle of 180° so that the link 410 rotates half a turn to rotate the body portion 100. ) is level with the first solar panel (SP1).

Here, the brush unit 300 moves the moving wheel 140 formed in front of the body unit 100 by the operation of the joint driving unit 400 and the brush 320 of the brush unit 300 is connected to the second solar panel (SP2). ) can move glidingly in contact with the surface.

Accordingly, the body portion 100 may be moved to be horizontal with the second solar panel SP2.

Next, (d) in Figure 8, the link motor 411 and the joint motor 414 provided on the left side of the body portion 100 are driven at an angle of 90°, so that the link 410 provided on the left side is in the first aspect. It stands up at a 90° angle with the light panel (SP1), and the main moving part 500 provided on the left side is lifted.

At this time, the main moving unit 500 provided on the left side has its vacuum pressure supply blocked from the vacuum pressure supply unit 200 and can be removed from the first solar panel SP1.

In addition, the main moving unit 500 provided on the right side can maintain the compression unit 540 attached to the first solar panel SP1 by maintaining vacuum pressure supply from the vacuum pressure supply unit 200.

Additionally, the rotating part 700 may descend from the body part 100 so that the fixing unit 760 can be attached to the second solar panel SP2 by receiving vacuum pressure from the vacuum pressure supply part 200.

Accordingly, the solar panel cleaning device 1 can be stably centered while the joint driving unit 400 operates and the left main moving unit 500 moves.

Next, in (e) of Figure 8, the link motor 411 and the joint motor 414 provided on the left side of the body portion 100 are driven at an angle of 180° and the link 410 provided on the left side rotates half a turn. Thus, it is level with the second solar panel (SP2).

Accordingly, the main moving unit 500 provided on the left side may be moved to be horizontal with the second solar panel SP2.

In addition, the link motor 411 and the joint motor 414 provided on the right side of the body portion 100 are driven at a 90° angle so that the link 410 provided on the right side is angled at a 90° angle with the first solar panel SP1. It stands upright, and the main moving part 500 provided on the right side is lifted.

At this time, the main moving unit 500 provided on the right side has its vacuum pressure supply blocked from the vacuum pressure supply unit 200 and can be removed from the first solar panel SP1.

In addition, the main moving unit 500 provided on the left side allows the pressing unit 540 to receive vacuum pressure again from the vacuum pressure supply unit 200 and be attached to the second solar panel SP2.

In addition, the rotating part 700 is lowered from the body part 100 so that the fixing unit 760 is maintained attached to the second solar panel SP2 by maintaining vacuum pressure supply from the vacuum pressure supply part 200. .

Accordingly, the solar panel cleaning device 1 can be stably centered while the joint driving unit 400 operates and the right main moving unit 500 moves.

Next, in (f) of Figure 8, the link motor 411 and the joint motor 414 provided on the right side of the body portion 100 are driven at an angle of 180°, and the link 410 provided on the right side rotates half a turn. Thus, it is level with the second solar panel (SP2).

Accordingly, the entire solar panel cleaning device 1 can be moved to be level with the second solar panel SP2.

Next, (g) in FIG. 8 shows a state in which the pair of mail moving units 500 are driven simultaneously and the solar panel cleaning device 1 has completely moved to the second solar panel SP2.

Because of this, the solar panel cleaning device 1 can move stably and smoothly while maintaining the center of the gap and level difference between solar panels.

The order in which the solar panel cleaning device 1 is operated is not limited and may be performed in various orders or simultaneously.

Figure 9 is a perspective view showing the main moving part of Figure 1, Figure 10 is a partial longitudinal cross-sectional view of Figure 9, Figure 11 is a perspective view showing the pressing unit of Figure 9, and Figures 12 (a) and (b) This is an example diagram showing the operation of Figure 11.

As described above, the main moving unit 500 is formed on both sides of the joint driving unit 400 in the form of a caterpillar, and includes a plurality of compression units that are detached from the solar panel by receiving vacuum pressure from the vacuum pressure supply unit 200. The solar panel can be moved by forming (540).

Specifically, referring to FIGS. 9 and 10, the main moving unit 500 includes a chain assembly 510, a main moving unit motor 520, a rail plate 530, a pressing unit 540, and a rotary joint 550. ), a connection hose (not shown), a connection pipe 560, and a check valve (not shown).

The chain assembly 510 forms the body of the main moving part 500 and may include a chain 511, a gear 512, and a chain fixing plate 513.

Specifically, the chain assembly 510 may have chain fixing plates 513 coupled to both sides of the chain assembly 510 to form a space inside the chain 511 .

At this time, the chain fixing plates 513 may be spaced apart by the thickness of the chain 511.

Additionally, a plurality of gears 512 may be engaged within the chain 511.

The main moving unit motor 520 may be positioned inside the chain assembly 510 to engage with the gear 512.

Accordingly, when the main moving unit motor 520 is driven, rotational force is transmitted to the gear 512, and the chain 511 connected to the gear 512 can rotate.

The rail plate 530 is formed as a plate with both sides bent, and a plurality of rail plates 530 may be formed along the outer peripheral surface of the chain 511.

At this time, the rail plates 530 are preferably arranged at regular intervals so that the pressing units 540 can be formed at regular intervals.

The pressing unit 540 is formed on the upper surface of the rail plate 530 and can be detached from the solar panel by receiving vacuum pressure from the vacuum pressure supply unit 200.

Specifically, referring to (a) and (b) of FIGS. 11 and 12, the compression unit 540 includes a compression unit frame 541, a piston 542, a compression unit spring 543, and a vacuum pad 544. ) and a slide valve 545.

The pressing unit frame 541 is formed on the upper surface of the rail plate 530 to support the internal structure of the pressing unit 540.

Specifically, the pressing unit frame 541 accommodates the piston 542 therein so that the piston 542 transmits the vacuum pressure received from the vacuum pressure supply unit 200 to the vacuum pad 544, and by external force. It can be made to go up and down.

In addition, the pressing unit frame 541 fixes the pressing unit spring 543 between the pressing unit frame 541 and the vacuum pad 544, so that the pressing unit spring 543 returns the pressing unit frame 541 to its original position. Elastic force can be applied to return.

In addition, the pressing unit frame 541 has a slide valve 545 fixed therein, so that the position of the slide valve 545 can change according to a change in the position of the pressing unit frame 541.

The piston 542 is formed inside the compression unit frame 541 to transmit the vacuum pressure received from the vacuum pressure supply unit 200 to the vacuum pad 544, and can be raised and lowered by external force.

Specifically, the piston 542 may include an upper piston 542a, an discharge hole 542b, a lower piston 542c, and an inlet hole 542d.

The upper piston 542a is connected to the vacuum pressure transmission pipe 560 to receive vacuum pressure, and can be raised and lowered by external force.

Additionally, the upper piston 542a can receive vacuum pressure and discharge it into the discharge hole 542b.

In addition, the upper piston 542a moves the main moving part 500 and the body part above the upper piston 542a when the pressing unit 540 contacts the solar panel as the chain assembly 510 moves. It can descend when a load equal to the weight of 100) is applied.

On the contrary, when the pressing unit 540 moves to a position away from the solar panel according to the movement of the chain assembly 510, the upper piston 542a does not apply a load to the elastic force of the pressing unit spring 543. You can go up and down by.

The discharge hole 542b can discharge the vacuum pressure transmitted from the upper piston 542a to the outside.

Specifically, depending on the position of the slide valve 545, the discharge hole 542b may discharge vacuum pressure within the seal 545a, which blocks the inflow and discharge of air, and may discharge the vacuum pressure that has entered the seal 545a. Vacuum pressure can also be transmitted through the ball 542d.

The lower piston 542c is connected to the upper piston 542a and moves up and down according to the rise and fall of the upper piston 542a, and transfers the vacuum pressure or atmospheric pressure flowing into the inlet hole 542d to the vacuum pad 544 to create vacuum. Pad 544 can be detached from the solar panel.

The inflow hole 542d can introduce vacuum pressure or atmospheric pressure from the outside.

Specifically, the inlet hole 542d may enter or leave the lower end of the seal 545a of the slide valve 545 according to the movement of the lower piston 542c.

More specifically, when the lower piston 542c moves up and down, the inlet hole 542d enters the lower part of the seal 545a, and the discharge hole 542b is already located within the seal 545a, so that the inlet hole 542d enters the lower part of the seal 545a. Since vacuum pressure is formed, vacuum pressure can be supplied.

Accordingly, the vacuum pressure flowing into the inlet hole 542d may be provided to the vacuum pad 544 through the lower piston 542c.

On the contrary, when the upper piston 542a descends under a load and the lower piston 542c also descends, the inlet hole 542d deviates from the lower end of the seal 545a, and the inlet hole 542d is exposed to atmospheric pressure. Thus, atmospheric pressure can be provided to the vacuum pad 544 through the lower piston 542c.

Accordingly, the vacuum pad 544 through which atmospheric pressure is transmitted can be detached from the solar panel it is adsorbing without any particular control.

The compression unit spring 543 connects the compression unit frame 541 and the vacuum pad 544 and can apply elastic force to the vacuum pad 544 to return it to its original position.

Specifically, the pressing unit spring 543 causes the upper piston 542a and the pressing unit frame 541 to descend due to the load when the main moving part 500 rotates and the pressing unit 540 moves downward. .

At this time, the compression unit spring 543 is pressed by the load of the compression unit frame 541.

Accordingly, the compression unit spring 543 is compressed, allowing the compression unit frame 541 and the slide valve 545 located inside the compression unit frame 541 to descend.

On the contrary, the compression unit spring 543 does not apply a load to the piston 542 when the main moving part 500 rotates and the compression unit 540 moves upward, so the compression unit spring 543 is not applied to the compression unit 542. Elastic force can be applied to the frame 541.

Accordingly, the compression unit spring 543 is tensioned, so that the compression unit frame 541 and the slide valve 545 located inside the compression unit frame 541 can rise.

The vacuum pad 544 is located at the end of the lower piston 542c, contacts the solar panel, and can be detached from the solar panel depending on the atmospheric pressure or vacuum pressure transmitted.

At this time, the vacuum pad 544 may be made of a material that does not damage the solar panel, such as NBR or PVC.

Additionally, the vacuum pad 544 can be in full contact with the solar panel.

Accordingly, when vacuum pressure is transmitted to the vacuum pad 544, the vacuum pad 544 can completely adsorb the solar panel.

Conversely, when atmospheric pressure is transmitted to the vacuum pad 544, the vacuum pad 544 may be removed from the solar panel.

The slide valve 545 is formed inside the pressing unit frame 541, and moves up and down together with the pressing unit frame 541 according to the driving of the main moving part 500, and transmits vacuum pressure to the inlet hole 542d. You can decide whether or not.

At this time, the slide valve 545 may include a seal 545a that blocks the inflow and outflow of air.

The seal 545a is formed to have a predetermined length, so that the pressure state from the lower end to the upper end of the seal 545a can be blocked from the outside.

Accordingly, when the discharge hole 542b enters the upper part of the seal 545a, vacuum pressure may be formed inside the seal 545a.

In addition, the seal 545a is structurally such that the discharge hole 542b may be located inside the seal 545a regardless of the operation of the compression unit frame 541.

In addition, the seal 545a is structurally structured so that when the pressing unit frame 541 moves up and down according to the driving of the main moving part 500, the inlet hole 542d enters the seal 545a, but when it goes down, the inlet hole 542d enters the seal 545a. It may be placed in a position to escape the seal 545a.

That is, the seal 545a may be placed in a position so as to cover the entire operating range of the discharge hole 542b inside, but not cover the downward movement of the inlet hole 542d.

Accordingly, the inlet hole 542d can transmit vacuum pressure or atmospheric pressure to the vacuum pad 544 depending on its operation.

The rotary joint 550 is formed at the inner center of the chain assembly 510. First, vacuum pressure is delivered to one end, and the other end can be connected to a connecting hose.

In addition, the rotary joint 550 mechanically rotates the end connected to the connecting hose, thereby preventing the connecting hose from being twisted according to the operation of the main moving part 500.

The connection hose transmits the vacuum pressure delivered to the rotary joint 550 to the connected connection pipe 560.

Specifically, the length of the connecting hose and the rotary joint 550 may vary depending on the position of the connected compression unit 540.

In addition, the connecting hose is continuously connected to the rotary joint 550 and the connecting pipe 560 regardless of the distance, so that vacuum pressure can be transmitted.

Additionally, the connecting hose may be connected between each compression unit 540 and each connecting pipe 560 connected thereto.

Specifically, the connection hose may connect each connection pipe 560 so that the vacuum pressure transmitted through the connection hose can be transmitted to each compression unit 540.

The connection pipe 560 is connected to the piston 542 of each compression unit 540, and can transmit the vacuum pressure transmitted through the connection hose 535 to the piston 542.

Here, in a section (rotating section) where the pressing unit 540 in contact with the solar panel has just fallen off or the pressing unit 540 has just been attached to the solar panel, the spacing between the pressing units 540 may be different.

Accordingly, when the connection pipes 560 are physically connected to each other to transmit vacuum pressure, a situation may occur where it is difficult to pass through the rotating section.

Therefore, the connecting pipe 560 is physically connected to the piston 542 of each compression unit 540, but it is preferable that the connecting pipes 560 are not physically connected to each other but are connected to each other through a connecting hose.

The check valve is disposed in the middle of the connection pipe 560 and the piston 542, and can transmit vacuum pressure to the piston 542, but block atmospheric pressure from being transmitted to the connection pipe 560.

Additionally, the check valve can transmit the vacuum pressure transmitted to the connection pipe 560 to the piston 542.

On the contrary, the check valve can introduce a small amount of atmospheric pressure from the inlet hole 542d to the discharge hole 542b through the operation of the slide valve 545.

In addition, the check valve blocks the atmospheric pressure transmitted to the piston 542 through the discharge hole 542b, preventing atmospheric pressure from being transmitted to the connection pipe 560.

If atmospheric pressure is transmitted to any one connection pipe 560, a fatal problem may occur in which vacuum pressure cannot be maintained within the main moving part 500 because all connection pipes 560 are connected by the connection hose. .

Accordingly, the check valve can block the atmospheric pressure transmitted to the piston 542.

Figure 13 is a perspective view showing the body and rotating part of Figure 1, (a) in Figure 14 is a perspective view showing the rotating part in Figure 13, (b) is a bottom perspective view of (a), and (a) in Figure 15 ) and (b) are exemplary diagrams showing the operation of the fixing unit in Figure 14, (a) and (b) in Figure 16 are exemplary diagrams showing the raising and lowering operation in Figure 14, and (a) and (b) in Figure 17 (b) is an example diagram showing the rotation operation of FIG. 14.

As previously described, referring to FIG. 13, the rotating part 700 is located inside the body part 100 and is formed to penetrate the lower surface, rises and falls within the body part 100, and receives vacuum pressure from the vacuum pressure supply unit 200. The body 100 can be rotated by forming a plurality of fixing units 760 that are supplied and detached from the solar panel.

Specifically, referring to (a) and (b) of FIGS. 14, the rotating unit 700 includes a rotating unit shaft structure 710, a first rotating unit plate 720, a second rotating unit plate 730, and a minor axis 740. , it may include a rotating part spring 750, a fixing unit 760, a rotating part connecting hose (not shown), and a cam driver 770.

The rotating part shaft structure 710 may be connected to the upper surface inside the body part 100, including the rotating part shaft 711 and the rotating part connecting body 712.

Specifically, the rotating shaft 711 may be formed in a cylindrical shape.

In addition, the rotary unit connector 712 may be formed in a disk shape with a diameter wider than that of the rotary unit shaft 711 and thick, and may be formed on the upper and lower surfaces of the rotary unit shaft 711.

The rotating part shaft structure 710 may be connected by having a rotating part connecting body 712 formed on the upper surface coupled to the upper surface inside the body part 100.

The first rotating part plate 720 may be formed in the shape of a plate so that the rotating part shaft 711 can pass through it and rotate.

At this time, in the first rotating unit plate 720, the size of the hole through which the rotating unit shaft 711 passes may be formed to be smaller than the size of the rotating unit connecting body 712.

Accordingly, the first rotating part plate 720 can be raised and lowered along the rotating part axis 711 from the rotating part connecting body 712 formed on the upper surface to the rotating part connecting body 712 formed on the lower surface without being separated from the rotating part axis 711. there is.

The second rotating portion plate 730 may be formed in a plate shape, located below the first rotating portion plate 720, and configured to rotate through the rotating portion shaft 711.

At this time, the second rotating part plate 730 may be formed so that the size of the hole through which the rotating part shaft 711 passes is smaller than the size of the rotating part connecting body 712.

Accordingly, the second rotating part plate 730 can be raised and lowered along the rotating part axis 711 from the rotating part connecting body 712 formed on the upper surface to the rotating part connecting body 712 formed on the lower surface without being separated from the rotating part axis 711. there is.

In addition, the second rotating plate 730 is preferably formed in a shape that protrudes at the position where the fixing unit 760 is formed, but is not limited to this.

The minor axis 740 is formed so that the upper end is connected to the lower surface of the first rotating part plate 720 and the lower end is connected to the upper surface of the second rotating part plate 730, so that the first rotating part plate 720 and the second rotating part plate 730 are connected to each other. It can be fixed at a certain interval.

Accordingly, the minor axis 740 can cause the second rotary plate 730 to rise and fall as the first rotating plate 720 rises and falls.

Additionally, the short axis 740 can secure the length by which the second rotating plate 730 rises and falls.

In addition, the short axis 740 can secure a length so that the cam driver 770 can be stably installed inside the body portion 100.

The rotating part spring 750 is located below the second rotating part plate 730 and may be formed to surround the rotating part shaft 711.

Specifically, the rotating part spring 750 is disposed between the second rotating part plate 730 and the rotating part connecting body 712 formed on the lower surface of the rotating part shaft 711, so that the second rotating part plate 730 returns to its original position. Elastic force can be applied.

Accordingly, the fixing unit 760 formed on the second rotating plate 730, which will be described later, can be lifted and removed from the solar panel.

A plurality of fixing units 760 are formed on the lower surface of the second rotating plate 730 and can be detached from the solar panel by receiving vacuum pressure from the vacuum pressure supply unit 200.

Specifically, referring to (a) and (b) of Figures 15, the fixing unit 760 includes a fixing unit frame 761, a fixing unit piston 762, a fixing unit vacuum pad 763, and a fixing unit slide valve. It may include (764).

The fixing unit frame 761 is formed on the lower surface of the second rotating plate 730 and can support the internal structure of the fixing unit 760.

Specifically, the fixing unit frame 761 accommodates the fixing unit piston 762 inside, and the fixing unit piston 762 transmits the vacuum pressure received from the vacuum pressure supply unit 200 to the fixing unit vacuum pad 763. It can be raised and lowered by external force.

In addition, the fixed unit frame 761 fixes the fixed unit slide valve 764 therein, so that the fixed unit slide valve 764 can change its position according to a change in the position of the fixed unit frame 761.

The fixing unit piston 762 is formed inside the fixing unit frame 761 and transmits the vacuum pressure received from the vacuum pressure supply unit 200 to the fixing unit vacuum pad 763, and can be raised and lowered by external force.

Specifically, the fixed unit piston 762 may include an upper fixed unit piston 762a, a fixed unit discharge hole 762b, a lower fixed unit piston 762c, and a fixed unit inlet hole 762d.

The upper fixed unit piston (762a) is connected to the rotating unit connection hose, receives vacuum pressure, and can be raised and lowered by external force.

Additionally, the upper fixing unit piston 762a can receive vacuum pressure and discharge it through the fixing unit discharge hole 762b.

The fixing unit discharge hole 762b can discharge the vacuum pressure transmitted from the upper fixing unit piston 762a to the outside.

Specifically, the fixed unit discharge hole 762b may discharge vacuum pressure within the fixed unit seal 764a, which blocks the inflow and discharge of air, depending on the position of the fixed unit slide valve 764. Vacuum pressure may be transmitted to the fixing unit inlet hole 762d that has entered the seal 764a.

The lower fixing unit piston (762c) is connected to the upper fixing unit piston (762a) and moves up and down according to the raising and lowering of the upper fixing unit piston (762a), and fixes the vacuum pressure or atmospheric pressure flowing into the fixing unit inlet hole (762d). By transferring it to the unit vacuum pad 763, the fixed unit vacuum pad 763 can be detached from the solar panel.

The fixing unit inlet hole 762d can introduce vacuum pressure or atmospheric pressure from the outside.

Specifically, the fixing unit inlet hole 762d may enter or leave the lower end of the fixing unit seal 764a of the fixing unit slide valve 764 according to the movement of the lower fixing unit piston 762c.

More specifically, when the lower fixing unit piston 762c moves up and down, the fixing unit inlet hole 762d enters the lower part of the fixing unit seal 764a, and the fixing unit discharge hole (764a) already exists in the fixing unit seal 764a. 762b) is located so that vacuum pressure is formed in the fixing unit seal 764a, so that vacuum pressure can be supplied.

Accordingly, the vacuum pressure flowing into the fixing unit inlet hole 762d may be provided to the fixing unit vacuum pad 763 through the lower fixing unit piston 762c.

On the contrary, when the upper fixing unit piston 762a is lowered by receiving an external force and the lower fixing unit piston 762c is also lowered, the fixing unit inlet hole 762d deviates from the lower part of the fixing unit seal 764a, and is fixed. The unit inlet hole 762d is exposed to atmospheric pressure, so that atmospheric pressure can be provided to the fixed unit vacuum pad 763 via the lower fixed unit piston 762c.

Accordingly, the fixed unit vacuum pad 763 through which atmospheric pressure is transmitted can be detached from the solar panel to which it is adsorbed.

The fixing unit vacuum pad 763 is located at the end of the lower fixing unit piston 762c, and can be in contact with the solar panel and detached from the solar panel depending on the atmospheric pressure or vacuum pressure transmitted.

At this time, the fixing unit vacuum pad 763 may be made of a material that does not damage the solar panel, such as NBR or PVC.

Additionally, the fixing unit vacuum pad 763 can be in full contact with the solar panel.

Accordingly, when vacuum pressure is transmitted to the fixed unit vacuum pad 763, the fixed unit vacuum pad 763 can completely adsorb the solar panel.

Conversely, when atmospheric pressure is transmitted to the fixed unit vacuum pad 763, the fixed unit vacuum pad 763 may be removed from the solar panel.

The fixed unit slide valve 764 is formed between the fixed unit piston 762 and the fixed unit frame 761, and moves up and down together with the fixed unit frame 761 according to the driving of the cam driver 770. It is possible to determine whether vacuum pressure is transmitted to the inlet hole 762d.

At this time, the fixed unit slide valve 764 may include a fixed unit seal 764a that blocks the inflow and outflow of air.

The fixing unit seal 764a is formed to have a predetermined length, so that the pressure state from the lower end to the upper end of the fixing unit seal 764a can be blocked from the outside.

Accordingly, when the fixing unit discharge hole 762b enters the upper part of the fixing unit seal 764a, vacuum pressure may be formed inside the fixing unit seal 764a.

In addition, structurally, the fixing unit seal 764a may have a fixing unit discharge hole 762b located inside the fixing unit seal 764a regardless of the operation of the fixing unit frame 761.

In addition, the fixing unit seal 764a is structurally structured such that when the fixing unit frame 761 is raised or lowered according to the operation of the cam driver 770, the fixing unit inlet hole 762d enters the seal 545a, but when the fixing unit frame 761 is lowered, the fixing unit inflow hole 762d enters the seal 545a. The ball 762d may be placed in a position to escape the seal 545a.

In other words, the seal 545a covers the entire operating range of the fixing unit discharge hole 762b, but is positioned so as not to cover the downward movement of the fixing unit inlet hole 762d. It can be.

Accordingly, the fixing unit inlet hole 762d can transmit vacuum pressure or atmospheric pressure to the fixing unit vacuum pad 763 depending on the operation.

The rotating unit connection hose can transmit vacuum pressure by connecting the vacuum pressure supply unit 200 and the fixing unit 760.

Here, the length of the rotating unit connection hose may vary depending on the position of the connected fixing unit 760.

The cam driver 770 is formed as a pair inside the body 100 and is located above the first rotating plate 720 to raise and lower the first rotating plate 720.

Specifically, the cam driver 770 may connect the cam head 772 to the cam motor 771 and operate the cam head 772 to perform a reciprocating angular motion.

At this time, the cam head 772 may protrude in a direction facing the center of the first rotating plate 720 horizontally with the solar panel.

Accordingly, according to the operation of the cam driver 770, the protruding portion of the cam head 772 can press the first rotating plate 720 to raise and lower it.

To explain the raising and lowering operation of the rotating unit 700 with reference to (a) and (b) of FIGS. 16, (a) is the state before the rotating unit 700 operates.

Next, in (b) of FIG. 16, the cam driver 770 operates and the protruding portion of the cam head 772 presses the first rotating plate 720, causing the first rotating plate 720 to descend, and The second rotating plate 730 connected to 740 and the fixing unit 760 formed on the second rotating plate 730 are lowered.

At this time, the rotating part spring 750 is compressed between the second rotating part plate 730 and the rotating part connecting body 712 formed on the lower surface.

Additionally, the fixing unit 760 is attached to the solar panel as described above.

Thereafter, when the cam driver 770 operates and the cam head 772 returns to its original position, the rotating spring 750 is tensioned so that each component returns to its original position, and the fixing unit 760 is separated from the solar panel. It can be removed and returned to its position as shown in (a) of FIG. 16.

In addition, to explain the rotation operation of the rotating part 700 with reference to (a) and (b) of Figure 17, (a) is a state in which the fixing unit 760 of the rotating part 700 is attached to the solar panel. .

Next, in Figure 17 (b), in the state of Figure 14 (a), the main moving part 500 on the left is driven backward, and the main moving part 500 on the right is driven forward.

At this time, the rotating part 700 is attached to the solar panel so that the body part 100 rotates according to the driving of each main moving part, and the rotating part shaft structure 710 coupled to the upper surface inside the body part 100 rotates. You can.

In addition, since the first rotating part plate 720 and the second rotating part plate 730 are formed to be rotatable on the rotating part shaft structure 710, only the rotating part shaft structure 710 rotates, and the first rotating part plate 720 , the second rotating plate 730 is fixed in position by the fixing unit 760 and does not rotate.

Accordingly, the solar panel cleaning device 1 can change the direction of movement by rotating through the rotating unit 700.

In addition, in the solar panel cleaning device 1, when the joint driving unit 400 is driven and the body unit 100 moves over, the rotating unit 700 is fixed to the solar panel to maintain the gap and step between solar panels. You can move stably and smoothly.

Figure 18 is a perspective view showing a support part formed in a solar panel cleaning device with an arm structure according to an embodiment of the present invention, Figure 19 is a perspective view showing the support part of Figure 18, and Figure 20 (a) to ( c) is an example diagram showing the operation of FIG. 18.

Referring to FIG. 18, in an embodiment of the present invention, the solar panel cleaning device 1 may further include a support portion 800.

The support portion 800 is formed as a pair on both sides of the brush portion 300 and can contact the solar panel and support the body portion 100.

Specifically, referring to FIG. 19, the support portion 800 may include a support motor 810, a rotation bracket 820, a lifting and lowering driver 830, a support unit 840, and a support connecting hose (not shown). You can.

The support motor 810 is built inside the brush unit 300, and its rotation axis may pass through the outer surface of the brush unit 300.

Specifically, the support motor 810 may be formed inside the brush housing 310 and arranged so that its rotation axis faces the outer surface.

The rotation bracket 820 is formed in an ‘ㄴ’ shape with the lower end bent to the outer surface, and can be rotated by being connected to the support motor 810.

Specifically, the vertically extending side of the rotation bracket 820 may be connected to the rotation axis of the support motor 810.

Accordingly, when the solar panel cleaning device 1 is traveling, the support unit 800 can rotate the rotation bracket 820 to lift the support unit 840 so that it can run smoothly.

The lifting and lowering actuator 830 is mounted on the rotating bracket 820 and is provided with a lifting and lowering shaft so that it is coupled through the lower surface of the rotating bracket 820 and can be raised and lowered in the direction of the solar panel.

The support unit 840 is located below the rotation bracket 820, is connected to the raising and lowering shaft, and can be detached from the solar panel by receiving vacuum pressure from the vacuum pressure supply unit 200.

At this time, the support unit 840 can receive vacuum pressure from the vacuum pressure supply unit 200 when the lifting and lowering driver 830 descends, and when it does not descend, the support unit 840 can receive vacuum pressure from the vacuum pressure supply unit 200. You may be blocked.

Specifically, the support unit 840 may include a support unit frame 841, an inlet pipe 842, a support unit spring 843, and a support unit vacuum pad 844.

The support unit frame 841 may be connected to the lower surface of the lifting and lowering shaft of the lifting and lowering actuator 820 to form the body of the support unit 840.

The inlet pipe 842 is formed in the form of a pipe having a vertical length and is located inside the support unit frame 841, but the upper end is bent to form an 'ㄱ' shape, and is located at the top of the support unit frame 841. It may protrude through.

The support unit spring 843 may connect the support unit frame 841 and the support unit vacuum pad 843 and apply elastic force to the support unit vacuum pad 843 to return to its original position.

It is connected to the support unit vacuum pad 844 and the inlet pipe 842 and receives vacuum pressure so that it can contact the solar panel and be detached from the solar panel.

Specifically, the support unit vacuum pad 844 is connected to the inflow pipe 842 and can receive vacuum pressure.

At this time, the support unit vacuum pad 844 may be made of a material that does not damage the solar panel, such as NBR or PVC.

In addition, it can be in full contact with the support unit vacuum pad 844 and the solar panel.

Accordingly, when vacuum pressure is transmitted to the support unit vacuum pad 844, the support unit vacuum pad 844 can completely adsorb the solar panel.

Conversely, when the vacuum pressure is blocked by the support unit vacuum pad 844, the support unit vacuum pad 844 can be removed from the solar panel.

The support connection hose can transmit vacuum pressure by connecting the vacuum pressure supply unit 200 and the support unit 840.

To explain the operation of the support unit 800 with reference to (a) to (c) of FIGS. 20, (a) is the state before the support unit 800 operates.

Next, in (b) of FIG. 20, the support motor 810 is rotated downward at a 90° angle and the support unit 840 is positioned to face the solar panel.

Next, in Figure 20 (c), in the state of Figure 20 (b), the lifting and lowering driver 830 descends so that the support unit 840 can contact the solar panel.

At this time, vacuum pressure is supplied from the vacuum pressure supply unit 200 so that the support unit 840 can be attached to the solar panel.

Accordingly, in the solar panel cleaning device 1, when the joint driving unit 400 is driven and the body unit 100 passes over, the support unit 800 is fixed to the solar panel to maintain the gap and step between solar panels. You can move stably and smoothly.

The embodiments of the present invention described above are not only implemented through devices and/or methods, but may also be implemented through devices for realizing functions corresponding to the configuration of the embodiments of the present invention, components included in the device, etc. This implementation can be easily implemented by an expert in the technical field to which the present invention belongs based on the description of the embodiments described above.

In addition, although the embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements can also be made by those skilled in the art using the basic concept of the present invention defined in the following claims. It falls within the scope of invention rights.

1: Solar panel cleaning device with arm structure
100: body part
110: main body
120: extension body
130: wiring box
140: moving wheel
200: Vacuum pressure supply unit
300: Brush part
310: Brush housing
320: brush
400: joint driving unit
410: link
411: link motor
420: joint assembly
421: Joint assembly body
422: joint assembly axis
423: Main moving unit connector
424: joint motor
500: main moving part
510: Chain assembly
511: chain
512: gear
513: Chain fixing plate
520: Main moving part motor
530: Rail plate
540: Compression unit
541: Compression unit frame
542: Piston
542 a: upper piston
542 b: discharge hole
542 c: lower piston
542 d: inlet hole
543: Compression unit spring
544: vacuum pad
545: slide valve
545a: seal
550: rotary joint
560: connector
600: Auxiliary moving part
610: Auxiliary moving part housing
611: extension axis
620: training wheels
621: Auxiliary wheel bracket
700: Rotating part
710: Rotating part shaft structure
711: Rotating axis
712: Rotating unit connector
720: first rotating plate
730: second rotating plate
740: Shortened
750: Rotating spring
760: Fixed unit
761: Fixed unit frame
762: Fixed unit piston
762 a: Upper fixing unit piston
762 b: Fixed unit discharge hole
762 c: Lower fixed unit piston
762 d: Fixed unit inlet hole
763: Fixed unit vacuum pad
764: Fixed unit slide valve
764a: Fixed unit seal
770: Cam driver
771: Cam motor
772: Cam head
800: support part
810: Support motor
820: Rotation bracket
830: Raising and lowering actuator
840: Support unit
841: Support unit frame
842: Inlet pipe
843: Support unit spring
844: Support unit vacuum pad
SP1: 1st solar panel
SP2: Second solar panel

Claims (5)

In the solar panel cleaning device that moves a plurality of solar panels and removes foreign substances from the surface of the solar panels,
A body portion located at the center of the solar panel cleaning device and formed with a moving wheel on the lower surface;
a vacuum pressure supply unit formed on the upper surface of the body to supply vacuum pressure;
A brush portion formed in front of the body portion and contacting the solar panel to remove foreign substances from the solar panel;
A pair of joint driving units formed on both sides of the body, including a link and a joint assembly connected to the link;
A pair of main moving parts formed on the outer surface of the link in the form of a caterpillar and moving the solar panel by receiving vacuum pressure from the vacuum pressure supply unit to form a plurality of pressing units that are detached from the solar panel;
A pair of auxiliary moving parts formed at the rear of the link and having auxiliary wheels on the lower surface, and
It is formed inside the body and penetrates the lower surface, and rotates the body by forming a plurality of fixing units that rise and fall inside the body and are detached from the solar panel by receiving vacuum pressure from the vacuum pressure supply unit. A solar panel cleaning device including a rotating part.
According to clause 1,
The joint driving unit,
A link formed on both sides of the body in the form of a bar, one end of which is connected to a link motor provided inside the body, and
A solar panel cleaning device comprising a joint assembly formed on an outer surface of the other end of the link, wherein a joint motor provided therein is connected to the other end of the link.
According to clause 2,
The joint assembly is,
A joint assembly body formed as a polyhedron and having a joint motor connected to the link therein;
A joint assembly axis formed on the lower surface of the joint assembly body and formed in a bar shape extending rearward, and
A solar panel cleaning device comprising one or more main moving unit connectors formed on an outer surface of the joint assembly body and connected to the main moving unit.
According to clause 1,
The rotating part,
It includes a rotating part shaft formed in a cylindrical shape and a rotating part connector formed on the upper and lower surfaces of the rotating part axis and formed in the shape of a disk with a diameter wider than the rotating part axis and having a thickness, and connected to the upper surface inside the body part. a rotating shaft structure;
a first rotary plate formed in the shape of a plate and configured to rotate through the rotating shaft;
a second rotary plate formed in a plate shape, located below the first rotating plate and configured to rotate through the rotating shaft;
A plurality of short axis formed at the upper end so that the lower and lower surfaces of the first rotating plate are connected to the upper surface of the second rotating plate so that the first rotating plate and the second rotating plate are fixed at a predetermined distance;
a rotating unit pressing unit spring located below the second rotating unit plate and formed to surround the rotating unit axis;
a plurality of fixing units formed on the lower surface of the second rotating plate and detached from the solar panel by receiving vacuum pressure from the vacuum pressure supply unit;
A rotating unit connecting hose that connects the vacuum pressure supply unit and the fixing unit to transmit vacuum pressure, and
A solar panel cleaning device comprising a pair of cam drivers formed inside the body and positioned above the first rotating plate to raise and lower the first rotating plate.
According to clause 1,
The solar panel cleaning device,
It further includes a pair of support parts formed on an outer surface of the brush part, contacting the solar panel, and supporting the body part,
The support part,
a support motor built inside the brush unit and having a rotation axis penetrating an outer surface of the brush unit;
A rotating bracket formed in an 'ㄴ' shape with its lower end bent to the outer surface and connected to the support motor to rotate;
a lifting and lowering driver that is seated on the rotating bracket and has a lifting and lowering shaft that penetrates the lower surface of the rotating bracket and moves up and down in the direction of the solar panel;
A support unit located below the rotating bracket, connected to the raising and lowering shaft, and receiving vacuum pressure from the vacuum pressure supply unit to be detached from the solar panel and
A solar panel cleaning device comprising a support connection hose that connects the vacuum pressure supply unit and the support unit to transmit vacuum pressure.